CN110000756A - With three mobile and a two mobile screw modes parallel institutions - Google Patents
With three mobile and a two mobile screw modes parallel institutions Download PDFInfo
- Publication number
- CN110000756A CN110000756A CN201910257041.1A CN201910257041A CN110000756A CN 110000756 A CN110000756 A CN 110000756A CN 201910257041 A CN201910257041 A CN 201910257041A CN 110000756 A CN110000756 A CN 110000756A
- Authority
- CN
- China
- Prior art keywords
- mobile
- prismatic pair
- branch
- pair
- ball secondary
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0072—Programme-controlled manipulators having parallel kinematics of the hybrid type, i.e. having different kinematics chains
Abstract
It is disclosed by the invention that there are three mobile and a two mobile screw modes parallel institutions, it include moving platform and fixed platform, moving platform passes through the first branch, the second branch, third branch and the 4th branch respectively and connect with fixed platform.The problem of of the invention it is single to solve existing parallel institution structure with three mobile and a two mobile screw modes parallel institutions, is not able to satisfy work requirements under complicated circumstances.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to one kind has a three mobile and two mobile screw modes
Parallel institution.
Background technique
Parallel robot mechanism is the polycyclic whilst closed forms of space multiple degrees of freedom.Since last century the eighties, parallel machine
Structure because its have the characteristics that rigidity height, large carrying capacity, accumulated error are small, dynamic characteristic is good, it is compact-sized due in imaginary axis machine
The industry fields such as bed, inching operation platform, motion simulator and multi-dimension force sensor are widely applied.Parallel institution have 2,
3,4,5 or 6 freedom degrees, currently, the research to 6 freedom degree parallel connection mechanisms more and is goed deep into comprehensively, but parallel institution is free
The reduction of degree will be so that mechanism structure be more simple, manufacture and control advantage of lower cost, therefore is meeting expected job requirement
In the case of, Limited-DOF Parallel Robot has its unique advantage.
Parallel institution with multi-motion modes, under the shape of mechanism singularity position, the characteristic with Motion Bifurcation, Ke Yitong
It crosses less driving pair and branch and realizes multi-motion modes, to adapt to a variety of different needs of work.And this kind of mechanism
Motor pattern transformation, do not need to re-assembly mechanism, the conversion rate of motor pattern is fast, process is easy.Currently, tool
There are three mobile (3T), the 3-freedom parallel mechanism of two mobile a screw (2T1H) more rare.This kind of parallel machine
Structure can adapt to a variety of different motion modes, adapt to the work under a variety of circumstances, grab in motion simulation, machine assembly, sorting
It takes, the fields such as drill process have certain application prospect.
Summary of the invention
The object of the present invention is to provide a kind of with three mobile and a two mobile screw modes parallel institutions, solves
The problem of existing parallel institution structure is single, is not able to satisfy work requirements under complicated circumstances.
The technical scheme adopted by the invention is that with three mobile and a two mobile screw modes parallel institutions,
It include moving platform and fixed platform, moving platform passes through the first branch, the second branch, third branch and the 4th branch respectively and allocates
Platform connection.
It is of the invention to be further characterized in that,
First branch includes the ball secondary S connecting with fixed platform11, ball secondary S11It is connected with first connecting rod, prismatic pair in turn
P12, second connecting rod, ball secondary S13, ball secondary S13It is connect with moving platform.
Prismatic pair P12On be connected with drive hydraulic motor.
Second branch includes the ball secondary S connecting with fixed platform21, ball secondary S21It is connected with third connecting rod, prismatic pair in turn
P22, fourth link, ball secondary S23, ball secondary S23It is connect with moving platform.
Prismatic pair P22On be connected with drive hydraulic motor.
Third branch includes the ball secondary S connecting with fixed platform31, ball secondary S31It is connected with the 5th connecting rod, prismatic pair in turn
P32, six-bar linkage, ball secondary S33, ball secondary S33It is connect with moving platform.
Prismatic pair P32On be connected with drive hydraulic motor.
4th branch includes the prismatic pair P connecting with fixed platform41, prismatic pair P41It is connected with seven-link assembly, spiral in turn
Secondary H42, the 8th connecting rod, prismatic pair P43, the 9th connecting rod, screw pair H44, screw pair H44It is connect with fixed platform；On 8th connecting rod also according to
It is secondary to be connected with prismatic pair P45, the tenth connecting rod, prismatic pair P46, prismatic pair P46It is connect with moving platform.
Prismatic pair P41On be connected with drive hydraulic motor.
The invention has the advantages that it is single to solve existing parallel institution structure, it is not able to satisfy under complicated circumstances and works
The problem of demand.Parallel institution of the invention designs symmetrical as far as possible by the settings of four branches in structure, makes it
With good movenent performance.Under certain condition by the prismatic pair and the 4th branch in the first, second and third branch of control
Prismatic pair makes the parallel institution realize different motor patterns, that is, includes three mobile (3T), a two mobile screws
(2T1H) can be adapted to the fields such as motion simulation, machine assembly, sorting crawl, parallel machine, drill process.
Detailed description of the invention
Fig. 1 is of the invention with three mobile and a two mobile screw modes parallel institution initial bit shape signals
Figure；
Fig. 2 is of the invention with three mobile and a two mobile screw modes parallel institution 3T motor pattern position shapes
Schematic diagram；
Fig. 3 is of the invention with three mobile and a two mobile screw modes parallel institution 2T1H motor pattern positions
Shape schematic diagram.
In figure, 1. first connecting rods, 2. second connecting rods, 3. third connecting rods, 4. fourth links, 5. the 5th connecting rods, 6. the 6th connect
Bar, 7. seven-link assemblies, 8. the 8th connecting rods, 9. the 9th connecting rods, 10. the tenth connecting rods, 11. moving platforms, 12. fixed platforms.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
The present invention is a kind of with three mobile and a two mobile screw modes parallel institutions, as shown in Figure 1, including dynamic
Platform 11 and fixed platform 12, moving platform 11 pass through the first branch, the second branch, third branch and the 4th branch and fixed platform respectively
12 connections.It defines moving platform 11 and the first branch junction is A1, define moving platform 11 and second branch junction be A2,
It defines moving platform and third branch junction is A3, define moving platform 11 and the 4th branch junction be O.Define fixed platform 12 with
First branch junction is B1, define fixed platform 12 and second branch junction be B2, define fixed platform 12 and third branch
Junction is B3, define fixed platform 12 and the 4th branch junction be B4、B5.Fixed platform 12 is B1、B2、B3、B4、B5Place plane.
First branch includes the ball secondary S connecting with fixed platform 1211, ball secondary S11It is connected with first connecting rod 1, movement in turn
Secondary P12, second connecting rod 2, ball secondary S13, ball secondary S13It is connect with moving platform 11.
Prismatic pair P12On be connected with drive hydraulic motor.
Second branch includes the ball secondary S connecting with fixed platform 1221, ball secondary S21It is connected with third connecting rod 3, movement in turn
Secondary P22, fourth link 4, ball secondary S23, ball secondary S23It is connect with moving platform 11.
Prismatic pair P22On be connected with drive hydraulic motor.
Third branch includes the ball secondary S connecting with fixed platform 1231, ball secondary S31It is connected with the 5th connecting rod 5, movement in turn
Secondary P32, six-bar linkage 6, ball secondary S33, ball secondary S33It is connect with moving platform 11.
Prismatic pair P32On be connected with drive hydraulic motor.
4th branch includes the prismatic pair P connecting with fixed platform 1241, prismatic pair P41Be connected in turn seven-link assembly 7,
Screw pair H42, the 8th connecting rod 8, prismatic pair P43, the 9th connecting rod 9, screw pair H44, screw pair H44It is connect with fixed platform 12；8th connects
Also it is connected with prismatic pair P on bar 8 in turn45, the tenth connecting rod 10, prismatic pair P46, prismatic pair P46It is connect with moving platform 11.
Prismatic pair P41On be connected with drive hydraulic motor.
Parallel institution of the invention under position shape shown in Fig. 1, connects the ball secondary S of fixed platform 1211, ball secondary S21, ball pair
S31Three tie points formed equilateral triangle, connect moving platform 11 ball secondary S13, ball secondary S23, ball secondary S33Three tie points
Form equilateral triangle.The equilateral triangle of moving platform 11 is smaller than the triangle size of fixed platform 12, and in the first of the mechanism
Under beginning position shape, above-mentioned two three sides of a triangle are corresponding parallel.Parallel institution has the instantaneous freedom degree of 3T1R, 3 prismatic pairs
P12, prismatic pair P22, prismatic pair P32Moving direction be general direction；Prismatic pair P41With prismatic pair P43Moving direction it is parallel,
Screw pair H42With screw pair H43The axis of screw it is conllinear, prismatic pair P45Moving direction and P41Moving direction it is vertical, prismatic pair
P45Moving direction and H42Axis direction it is vertical.Prismatic pair P46Moving direction and H42Axis out of plumb, it is also not parallel,
And prismatic pair P46Moving direction and prismatic pair P45Moving direction it is vertical.Screw pair H42With screw pair H44Axis of screw weight
It closes, and screw pitch is identical, the hand of spiral is identical.Prismatic pair P41Moving direction and screw pair H42Axis it is vertical.
Parallel institution of the invention, under mechanism position shape shown in Fig. 1, which has the instantaneous freedom degree of 3T1R,
Prismatic pair P12, prismatic pair P22, prismatic pair P32, prismatic pair P41On be respectively connected with drive hydraulic motor, control prismatic pair P12, it is mobile
Secondary P22, prismatic pair P32, prismatic pair P41, so that mechanism kinematic is to mechanism position shown in Fig. 2 shape.
Screw pair H under this shape, in the 4th branch42Axis and screw pair H44It is not conllinear, under this shape, mechanism
With 3T motor pattern.Control prismatic pair P12, prismatic pair P22, prismatic pair P32The control of implementation mechanism mechanism under 3T motor pattern
System.
Parallel institution of the invention, under mechanism position shape shown in Fig. 1, which has 3T1R motor pattern, control
Prismatic pair P processed12, prismatic pair P22, prismatic pair P32, prismatic pair P41, so that mechanism kinematic is to mechanism position shown in Fig. 3 shape.
Screw pair H under this shape, in the 4th branch42Axis and screw pair H44Collinearly, prismatic pair P41With prismatic pair
P43Moving direction it is not parallel, under this shape, mechanism have 2T1H motor pattern.Control prismatic pair P12, prismatic pair P22, it is mobile
Secondary P32The control of implementation mechanism mechanism under 2T1H motor pattern.
Parallel institution of the invention passes through control by the setting of four branches under certain condition and is connected with hydraulic drive respectively
4 prismatic pairs of dynamic motor enable to the parallel institution to realize different motor patterns, that is, include three mobile (3T), two movements
One screw (2T1H) can be adapted to the necks such as motion simulation, machine assembly, sorting crawl, parallel machine, drill process
Domain.
Claims (9)
1. with three mobile and a two mobile screw modes parallel institutions, which is characterized in that include moving platform (11)
With fixed platform (12), the moving platform (11) passes through the first branch, the second branch, third branch and the 4th branch and allocates respectively
Platform (12) connection.
2. according to claim 1 have three mobile and a two mobile screw modes parallel institutions, feature exists
In first branch includes the ball secondary S connecting with fixed platform (12)11, the ball secondary S11It is connected with first connecting rod in turn
(1), prismatic pair P12, second connecting rod (2), ball secondary S13, the ball secondary S13It is connect with moving platform (11).
3. according to claim 2 have three mobile and a two mobile screw modes parallel institutions, feature exists
In the prismatic pair P12On be connected with drive hydraulic motor.
4. according to claim 1 have three mobile and a two mobile screw modes parallel institutions, feature exists
In second branch includes the ball secondary S connecting with fixed platform (12)21, the ball secondary S21It is connected with third connecting rod in turn
(3), prismatic pair P22, fourth link (4), ball secondary S23, the ball secondary S23It is connect with moving platform (11).
5. according to claim 4 have three mobile and a two mobile screw modes parallel institutions, feature exists
In the prismatic pair P22On be connected with drive hydraulic motor.
6. according to claim 1 have three mobile and a two mobile screw modes parallel institutions, feature exists
In the third branch includes the ball secondary S connecting with fixed platform (12)31, the ball secondary S31It is connected with the 5th connecting rod in turn
(5), prismatic pair P32, six-bar linkage (6), ball secondary S33, the ball secondary S33It is connect with moving platform (11).
7. according to claim 6 have three mobile and a two mobile screw modes parallel institutions, feature exists
In the prismatic pair P32On be connected with drive hydraulic motor.
8. according to claim 7 have three mobile and a two mobile screw modes parallel institutions, feature exists
In the 4th branch includes the prismatic pair P connecting with fixed platform (12)41, the prismatic pair P41It is connected with the 7th company in turn
Bar (7), screw pair H42, the 8th connecting rod (8), prismatic pair P43, the 9th connecting rod (9), screw pair H44, the screw pair H44With allocate
Platform (12) connection；Prismatic pair P is also connected in turn on 8th connecting rod (8)45, the tenth connecting rod (10), prismatic pair P46, described
Prismatic pair P46It is connect with moving platform (11).
9. according to claim 8 have three mobile and a two mobile screw modes parallel institutions, feature exists
In the prismatic pair P41On be connected with drive hydraulic motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910257041.1A CN110000756B (en) | 2019-04-01 | 2019-04-01 | Parallel mechanism with three-movement and two-movement one-spiral movement modes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910257041.1A CN110000756B (en) | 2019-04-01 | 2019-04-01 | Parallel mechanism with three-movement and two-movement one-spiral movement modes |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110000756A true CN110000756A (en) | 2019-07-12 |
| CN110000756B CN110000756B (en) | 2021-02-12 |
Family
ID=67169323
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910257041.1A Active CN110000756B (en) | 2019-04-01 | 2019-04-01 | Parallel mechanism with three-movement and two-movement one-spiral movement modes |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110000756B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116749158A (en) * | 2023-08-16 | 2023-09-15 | 国机重型装备集团股份有限公司 | Spherical three-degree-of-freedom orientation device with two axes of certain axis |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1861328A (en) * | 2005-10-10 | 2006-11-15 | 燕山大学 | Adjustable 3,4,5-SPS type parallel mechanism experiment bench |
| CN103042521A (en) * | 2012-12-26 | 2013-04-17 | 燕山大学 | 3-SPS (spherical, prismatic and spherical)/SPS three-drive six-degree-of-freedom parallel mechanism with function of wide-range posture adjustment and positioning |
| CN103056869A (en) * | 2012-12-26 | 2013-04-24 | 燕山大学 | S/3-SPS gesture-adjusting position-adjusting three-shaft drive parallel mechanism |
| CN103895009A (en) * | 2014-04-22 | 2014-07-02 | 四川大学 | Three-freedom-degree sphere-center adjustable spherical surface parallel mechanism |
| WO2017067726A1 (en) * | 2015-10-20 | 2017-04-27 | Krones Aktiengesellschaft | Parallel-kinematics robot and method for operating same |
| CN107932483A (en) * | 2017-12-15 | 2018-04-20 | 浙江理工大学 | A kind of three movements one with complete cycle cornering rate rotate sorting machine people in parallel |
| CN108818502A (en) * | 2018-06-28 | 2018-11-16 | 西安工程大学 | The parallel institution of a two mobile rotations with spherical rotation freedom degree |
| CN208557482U (en) * | 2018-06-28 | 2019-03-01 | 西安工程大学 | The parallel institution of 2T1R with spherical rotation freedom degree |
-
2019
- 2019-04-01 CN CN201910257041.1A patent/CN110000756B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1861328A (en) * | 2005-10-10 | 2006-11-15 | 燕山大学 | Adjustable 3,4,5-SPS type parallel mechanism experiment bench |
| CN103042521A (en) * | 2012-12-26 | 2013-04-17 | 燕山大学 | 3-SPS (spherical, prismatic and spherical)/SPS three-drive six-degree-of-freedom parallel mechanism with function of wide-range posture adjustment and positioning |
| CN103056869A (en) * | 2012-12-26 | 2013-04-24 | 燕山大学 | S/3-SPS gesture-adjusting position-adjusting three-shaft drive parallel mechanism |
| CN103895009A (en) * | 2014-04-22 | 2014-07-02 | 四川大学 | Three-freedom-degree sphere-center adjustable spherical surface parallel mechanism |
| WO2017067726A1 (en) * | 2015-10-20 | 2017-04-27 | Krones Aktiengesellschaft | Parallel-kinematics robot and method for operating same |
| CN107932483A (en) * | 2017-12-15 | 2018-04-20 | 浙江理工大学 | A kind of three movements one with complete cycle cornering rate rotate sorting machine people in parallel |
| CN108818502A (en) * | 2018-06-28 | 2018-11-16 | 西安工程大学 | The parallel institution of a two mobile rotations with spherical rotation freedom degree |
| CN208557482U (en) * | 2018-06-28 | 2019-03-01 | 西安工程大学 | The parallel institution of 2T1R with spherical rotation freedom degree |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116749158A (en) * | 2023-08-16 | 2023-09-15 | 国机重型装备集团股份有限公司 | Spherical three-degree-of-freedom orientation device with two axes of certain axis |
| CN116749158B (en) * | 2023-08-16 | 2023-10-13 | 国机重型装备集团股份有限公司 | Spherical three-degree-of-freedom orientation device with two axes of certain axis |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110000756B (en) | 2021-02-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101700621B (en) | Full decoupled three-dimensional moving parallel robot mechanism | |
| CN208215373U (en) | A kind of manipulator of the robot with pooling feature | |
| CN107972018A (en) | A kind of four side chain parallel institutions | |
| CN205201513U (en) | Five degree of freedom series -parallel connection robots based on 2R1T parallel mechanism | |
| CN201168960Y (en) | Four-freedom degree parallel mechanism | |
| CN208557482U (en) | The parallel institution of 2T1R with spherical rotation freedom degree | |
| CN108638031A (en) | Parallel institution with two kinds of motor patterns of 2T1R and 3T | |
| CN108818502A (en) | The parallel institution of a two mobile rotations with spherical rotation freedom degree | |
| CN110000755A (en) | Parallel institution with a two mobile spirals and a two mobile rotational motion modes | |
| CN110000756A (en) | With three mobile and a two mobile screw modes parallel institutions | |
| CN110355740A (en) | Parallel institution with two kinds of motor patterns of 1R1T and 3T | |
| CN104875187A (en) | (2T1R)&(2R) Double-acting platform decoupling parallel serial robot mechanism | |
| CN109015604A (en) | A kind of 3-freedom parallel mechanism of a two mobile rotations | |
| CN107116536A (en) | A kind of power perseverance transmission parallel institution | |
| CN110000757A (en) | Parallel institution with a two mobile rotations and a two mobile screw modes | |
| CN107696014A (en) | Spherical surface two-freedom symmetrical parallel robot mechanism with redundant drive | |
| CN209533384U (en) | Parallel institution with 3T, 2T1R and 1R2T motor pattern | |
| CN107471201A (en) | A kind of relative freedom is three structural redundancy parallel robot mechanism | |
| CN201446406U (en) | Four-degree-of-freedom paralleling working platform | |
| CN110355741A (en) | Parallel institution with two kinds of motor patterns of 3T1R and 2T2R | |
| CN101700655A (en) | Three-dimensional transformational parallel robot mechanism with large workspace | |
| CN109807868A (en) | A kind of change born of the same parents' parallel institution | |
| CN107598902A (en) | A kind of six-degree-of-freedom parallel connection mechanism | |
| CN109108949A (en) | Parallel institution with tri- kinds of motor patterns of 3T, 2T1R and 1T2R | |
| CN209158380U (en) | There are three types of the 3-freedom parallel mechanisms of motor pattern for tool |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Liu Wei Inventor after: Zhao Fang Inventor before: Liu Wei |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210721 Address after: 710000 2-2602, building 7, aodawen landscape garden community, Jianyuan Road, caotan street, Xi'an Economic and Technological Development Zone, Xi'an City, Shaanxi Province Patentee after: Xi'an depsecco measuring equipment Co.,Ltd. Address before: 710048 No. 19 Jinhua South Road, Shaanxi, Xi'an Patentee before: XI'AN POLYTECHNIC University |